Reference Manual

Turbo PMAC/PMAC2 Software Reference
Change Summary: PMAC to Turbo PMAC 747
Jumper Changes
PMAC/PMAC2
Turbo PMAC/PMAC2
PMAC E40 – E43 Card Number/Clock Direction
Turbo PMAC E40 – E43 Clock Direction
I0 Serial Card Number
PMAC E44 – E47 Serial Baud Rate
Turbo PMAC E44 – E47 (not used)
I54 Serial Baud Rate
PMAC E48 Wait State Control
Turbo PMAC E48 (not used)
PMAC1.5 E48 CPU Frequency Control
Turbo PMAC E48 (not used)
I52 CPU Frequency Multiplier
PMAC2 E2, E4 CPU Frequency Control
I52 CPU Frequency Multiplier
PMAC E50 Save Enable Control
Turbo PMAC E50 (not used)
On-line Command Changes
PMAC/PMAC2
Turbo PMAC/PMAC2
<CTRL-Z>: Change Active Response Port to
Serial Port
{none} {no Active Response Port – all ports are
independent, responding to commands from
that port}
<CTRL-B>, <CTRL-P>, <CTRL-V>,
<CTRL-F> always report for all PMAC
motors (1-8)
<CTRL-B>, <CTRL-P>, <CTRL-V>,
<CTRL-F> report for the eight motors
selected by ## command
<CTRL-E> command causes single-shot binary
reporting of data gathering registers
{none} {This function does not exist on Turbo
PMAC}
<CTRL-T> command toggles half/full duplex
serial communications
<CTRL-T> command ends MACRO ASCII pass-
through mode
<CTRL-W> command causes PMAC to execute
command at DPRAM address specified by I47
{none} {This function does not exist on Turbo
PMAC}
V, <CTRL-V> report raw (unfiltered) velocity
values
V, <CTRL-V> report filtered velocities as
controlled by I60 and I61
P, <CTRL-P> report position values rounded to
nearest 1/10 count
P, <CTRL-P> report position values to 1/32
count
H, <CTRL-O> feedhold commands do not permit
jog moves while in feedhold mode
H, <CTRL-O> feedhold commands do permit jog
moves while in feedhold mode
\ command is feedhold that permits jog; if not in
segmentation mode, acts as H command
\ command is fastest legal stop in lookahead; if not
in lookahead, acts as H command
?? returns 12-digit (48-bit) response
?? returns 18-digit (72-bit) response
I{constant}={expression}
M{constant}={expression}
P{constant}={expression}
Q{constant}={expression}
Require constant to specify variable number
I{data}={expression}
M{data}={expression}
P{data}={expression}
Q{data}={expression}
Can use expression to specify variable number
<CTRL-U> and <CTRL-L> open and close rotary
buffer, respectively.
{none} – Use OPEN ROT and CLOSE text
commands.
<CTRL-Y> brings back last text command, ready
to execute on <CR>
{none}{This function does not exist on Turbo
PMAC}